The invention discloses a folding and unfolding type flapping wing mechanism of an underwater vehicle. The mechanism is composed of a rack, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and wings, and all the connecting rods are connected through revolute pairs. The mechanism needs two driving inputsto realize folding, unfolding and flapping of the wings, the lifting force of the vehicle can be effectively reduced in the wing folding and unfolding process, the mechanism is simple, mechanism parameters can be determined according to sweepback angles of the wings, and the mechanism is easy to process, manufacture and control. The hydrodynamic parameters such as the lift force, the resistance and the lift-drag ratio of the underwater vehicle can be controlled through wing folding and unfolding, and the possibility is provided for the underwater vehicle to adaptively adjust the hydrodynamicparameters according to the complex marine environment.
本发明公开一种水下航行器收展式扑翼机构,由机架、第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆及机翼组成,各连杆之间通过转动副连接;机构需要通过两个驱动输入实现机翼的折展、扑动,机翼折展过程可以有效减小航行器的升力,本机构简单,机构参数可依据机翼后掠角确定,易于加工制作和控制。本发明也可以通过机翼折展控制水下航行器的升力、阻力及升阻比等水动力参数,为水下航行器依据复杂海洋环境自适应调节水动力参数提供了可能。
Folding and unfolding type flapping wing mechanism of underwater vehicle
一种水下航行器收展式扑翼机构
2020-04-10
Patent
Electronic Resource
Chinese
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